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Vector Field Histogram
About: Vector Field Histogram is a research topic. Over the lifetime, 131 publications have been published within this topic receiving 16563 citations.
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TL;DR: This paper reformulated the manipulator con trol problem as direct control of manipulator motion in operational space—the space in which the task is originally described—rather than as control of the task's corresponding joint space motion obtained only after geometric and geometric transformation.
Abstract: This paper presents a unique real-time obstacle avoidance approach for manipulators and mobile robots based on the artificial potential field concept. Collision avoidance, tradi tionally considered a high level planning problem, can be effectively distributed between different levels of control, al lowing real-time robot operations in a complex environment. This method has been extended to moving obstacles by using a time-varying artificial patential field. We have applied this obstacle avoidance scheme to robot arm mechanisms and have used a new approach to the general problem of real-time manipulator control. We reformulated the manipulator con trol problem as direct control of manipulator motion in oper ational space—the space in which the task is originally described—rather than as control of the task's corresponding joint space motion obtained only after geometric and kine matic transformation. Outside the obstacles' regions of influ ence, we caused the end effector to move in a straight line with an...
6,515 citations
TL;DR: This approach, designed for mobile robots equipped with synchro-drives, is derived directly from the motion dynamics of the robot and safely controlled the mobile robot RHINO in populated and dynamic environments.
Abstract: This approach, designed for mobile robots equipped with synchro-drives, is derived directly from the motion dynamics of the robot. In experiments, the dynamic window approach safely controlled the mobile robot RHINO at speeds of up to 95 cm/sec, in populated and dynamic environments.
2,886 citations
01 Jan 1991
TL;DR: A real-time obstacle avoidance method for mobile robots which has been developed and implemented, named the vector field histogram (VFH), permits the detection of unknown obstacles and avoids collisions while simultaneously steering the mobile robot toward the target.
Abstract: A real-time obstacle avoidance method for mobile robots which has been developed and implemented is described. This method, named the vector field histogram (VFH), permits the detection of unknown obstacles and avoids collisions while simultaneously steering the mobile robot toward the target. The VFH method uses a two-dimensional Cartesian histogram grid as a world model. This world model is updated continuously with range data sampled by onboard range sensors. The VFH method subsequently uses a two-stage data-reduction process to compute the desired control commands for the vehicle. Experimental results from a mobile robot traversing densely cluttered obstacle courses in smooth and continuous motion and at an average speed of 0.6-0.7 m/s are shown. A comparison of the VFN method to earlier methods is given. >
2,352 citations
09 Apr 1991
TL;DR: Based on a rigorous mathematical analysis, the authors present a systematic overview and a critical discussion of the inherent problems of potential field methods (PFMs) and developed a new method for fast obstacle avoidance.
Abstract: Based on a rigorous mathematical analysis, the authors present a systematic overview and a critical discussion of the inherent problems of potential field methods (PFMs). The authors previously (1989) developed a PFM called the virtual force field (VFF) method. Much insight has been gained into the strengths and weaknesses of this method. Four distinct drawbacks with PFMs are identified. Because of these drawbacks, the authors abandoned potential field methods and developed a new method for fast obstacle avoidance. This method, called the vector field histogram method, produces smooth, nonoscillatory motion, while sampling time and hardware are identical to those used in the VFF method. >
1,646 citations
01 Jan 1989
TL;DR: A real-time obstacle avoidance approach for mobile robots that permits the detection of unknown obstacles simultaneously with the steering of the mobile robot to avoid collisions and advance toward the target.
Abstract: A real-time obstacle avoidance approach for mobile robots has been developed and implemented. It permits the detection of unknown obstacles simultaneously with the steering of the mobile robot to avoid collisions and advance toward the target. The novelty of this approach, entitled the virtual force field method, lies in the integration of two known concepts: certainty grids for obstacle representation and potential fields for navigation. This combination is especially suitable for the accommodation of inaccurate sensor data as well as for sensor fusion and makes possible continuous motion of the robot with stopping in front of obstacles. This navigation algorithm also takes into account the dynamic behavior of a fast mobile robot and solves the local minimum trap problem. Experimental results from a mobile robot running at a maximum speed of 0.78 m/s demonstrate the power of the algorithm. >
1,171 citations